Control method, system, crane and controller for a hook

Abstract

The embodiment of the application provides a control method and system for a hook, a crane and a controller. An electronic tag memory storing specification information of the hook is installed on the hook, and each electronic tag includes only one specification information. The hook is connected to a hook head through a wire rope, and a radio frequency detection module is installed on the hook head. The method comprises the following steps: in the case that the radio frequency detection module detects the radio frequency signal and the hook specification information sent by the electronic tag, receiving the radio frequency signal and the hook specification information forwarded by the radio frequency detection module; determining the rated load and the maximum allowable ratio of the hook according to the hook specification information, so that the weight of the hoisted object of the hook is lower than or equal to the rated load, and the wheel slip group ratio of the hook is lower than or equal to the maximum allowable ratio during operation; obtaining the maximum lifting speed of the hook to determine the first signal threshold of the radio frequency signal; in the case that the signal strength of the radio frequency signal is greater than or equal to the first signal threshold, controlling the hook to slow down or stop lifting.

Description

Technical Field

[0001] This application relates to the field of engineering machinery, specifically to a control method for a hook, a hook control system, a crane, a storage medium, and a controller. Background Technology

[0002] In the field of construction machinery such as cranes, it is often necessary to control the lifting height of moving parts such as hooks to prevent the hook from hitting the top and causing safety accidents.

[0003] Currently, crane designs typically employ cam-based limit switches to limit hook movement or use machine vision algorithms for feature recognition. The cam-based limit switch method involves indirect measurement via a coaxial cam limiter driven by a wire rope drum. When the hook reaches the calibrated position, the limit switch is triggered, limiting the hook's lifting speed. However, because this limit control is based on the calibrated position, improper calibration or a malfunctioning limit switch can cause the hook to fail to stop at its intended position, potentially leading to overshooting and a crane overrun.

[0004] Feature recognition using machine vision algorithms involves obtaining the actual distance between the hook and its highest lifting position from real-time images during the lifting process. Based on this real-time distance and a preset safety distance, control strategies are implemented to limit the hook's lifting motion. However, the accuracy of recognition is significantly affected by the distance between the camera and the hook, as well as environmental visibility. Furthermore, when hooks of different specifications have similar shapes, their appearance needs to be modified. If the hook specifications cannot be accurately determined, the highest lifting position corresponding to that specification cannot be precisely detected. Summary of the Invention

[0005] The purpose of this application is to provide a control method for a hook, a hook control system for a crane, a storage medium, and a controller.

[0006] To achieve the above objectives, the first aspect of this application provides a control method for a lifting hook, wherein an electronic tag is installed on the hook, the electronic tag stores the hook's specification information, wherein any electronic tag includes one and only one specification information, the hook is connected to the boom head via a wire rope, and a radio frequency detection module is installed on the boom head, and the control method includes:

[0007] During the lifting process of the hook, if the radio frequency detection module detects the radio frequency signal sent by the electronic tag and the hook specification information, the radio frequency detection module will receive the radio frequency signal and hook specification information forwarded by the radio frequency detection module.

[0008] Determine the rated load and maximum allowable ratio of the hook according to the hook specification information, so that the weight of the load lifted by the hook is lower than or equal to the rated load during operation, and the ratio of the hook pulley block is lower than or equal to the maximum allowable ratio.

[0009] Obtain the maximum lifting speed of the hook;

[0010] The first signal threshold of the radio frequency signal is determined based on the maximum lifting speed;

[0011] If the signal strength of the radio frequency signal is greater than or equal to the first signal threshold, the hook is controlled to decelerate or stop lifting.

[0012] In one embodiment, controlling the hook to decelerate or stop lifting when the signal strength of the radio frequency signal is greater than or equal to a first signal threshold includes: controlling the hook to decelerate when the signal strength of the radio frequency signal is greater than or equal to the first signal threshold and less than or equal to a second signal threshold; and controlling the hook to stop lifting when the signal strength of the radio frequency signal is greater than the second signal threshold; wherein the second signal threshold is determined based on the maximum lifting speed and the second signal threshold is greater than the first signal threshold.

[0013] In one embodiment, the control method further includes: controlling the hook to continue lifting when the signal strength of the radio frequency signal is less than a first signal threshold.

[0014] In one embodiment, determining the rated load and maximum allowable ratio of the hook based on the hook specification information includes: after receiving the hook specification information forwarded by the radio frequency detection module, sending the hook specification information to the human-machine interface for display; and, upon receiving a confirmation instruction from the user triggered by the human-machine interface regarding the hook specification information, determining the rated load and maximum allowable ratio that match the hook specification.

[0015] In one embodiment, the control method further includes: during the lifting process of the hook, when the radio frequency detection module receives the radio frequency signal sent by the electronic tag within the preset detection range, receiving the radio frequency signal forwarded by the radio frequency detection module and the hook specification information.

[0016] In one embodiment, the control method further includes: during the lifting process of the hook, if it is detected that the radio frequency module interrupts the forwarding of radio frequency signals and hook specification information and does not resume the forwarding action within a preset time period, it is determined that the hook has malfunctioned; the hook is controlled to stop the lifting action, and a warning message is issued to the user through the human-machine interface.

[0017] A second aspect of this application provides a processor configured to perform the above-described control method for a hook.

[0018] A third aspect of this application provides a hook control system, comprising:

[0019] The radio frequency detection module is used to receive radio frequency signals and hook specification information sent by the electronic tag and forward them to the controller;

[0020] The electronic tag stores hook specification information and is used to send radio frequency signals and hook specification information to the radio frequency detection module.

[0021] The controller described above is configured to perform the control method for the hook described above.

[0022] A fourth aspect of this application provides a crane, comprising:

[0023] The hook is equipped with an electronic tag and is connected to the head of the boom via a wire rope.

[0024] The boom is equipped with an RF detection module at its head. During the lifting process, the RF detection module detects the RF signals sent by the electronic tag and the hook specification information.

[0025] And the aforementioned hook lifting control system.

[0026] In one embodiment, the crane further includes:

[0027] The human-machine interface is used to trigger the hook specification information confirmation command.

[0028] A fifth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned control method for a hook.

[0029] The above technical solution enables automatic identification of hook specifications. The radio frequency module detects the electronic tag in real time via wireless detection mode and forwards the radio frequency signal and hook specification data to the controller in real time. The controller decelerates and stops the lifting of the hook based on the signal strength of the radio frequency signal, which can effectively reduce or avoid the impact of stopping the lifting height limit in a dangerous direction.

[0030] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0032] Figure 1 This schematic diagram illustrates an application environment of a control method for a hook according to an embodiment of this application.

[0033] Figure 2 A schematic flowchart of a control method for a hook according to an embodiment of this application is shown.

[0034] Figure 3The schematic diagram illustrates a process for controlling the hook to decelerate or stop lifting according to an embodiment of this application;

[0035] Figure 4 This illustration schematically shows a process diagram for identifying hook specification information according to an embodiment of the present application;

[0036] Figure 5 A schematic diagram of the structure of a hook control system according to an embodiment of this application is shown.

[0037] Figure 6 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0038] Figure Labels

[0039] 102 Hook 104 Electronic Tag

[0040] 106 steel wire rope 108 boom

[0041] 110 RF detection module Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0043] The control method for hooks provided in this application can be applied to, for example... Figure 1 The application environment shown is illustrated. The figure represents a portion of the crane's structure, where 102 is the hook, 104 is an electronic tag mounted on the hook 102, 106 is a wire rope, and 108 is the boom. An RF detection module 110 is mounted on the boom 108. The electronic tag 104 stores hook specification information and is used to send RF signals and hook specification information to the RF detection module 110. The hook 102 is connected to the head of the boom 108 via the wire rope 106. A controller (not shown) controls the lifting of the hook 102. The RF detection module 110 forwards the detected RF signals and hook specification information to the controller, which then controls the hook 102 based on the received RF signals and hook specification information.

[0044] Figure 2 A schematic flowchart illustrating a control method for a hook according to an embodiment of this application is shown. Figure 2As shown, in one embodiment of this application, a control method for a hook is provided, including the following steps:

[0045] Step 201: During the lifting process of the hook, if the radio frequency detection module detects the radio frequency signal sent by the electronic tag and the hook specification information, receive the radio frequency signal and hook specification information forwarded by the radio frequency detection module.

[0046] Step 202: Determine the rated load and maximum allowable ratio of the hook according to the hook specification information, so that the weight of the load lifted by the hook is lower than or equal to the rated load during operation, and the ratio of the hook pulley block is lower than or equal to the maximum allowable ratio.

[0047] Step 203: Obtain the maximum lifting speed of the hook.

[0048] Step 204: Determine the first signal threshold of the radio frequency signal based on the maximum lifting speed.

[0049] Step 205: If the signal strength of the radio frequency signal is greater than or equal to the first signal threshold, control the hook to decelerate or stop lifting.

[0050] Radio Frequency Identification (RFID) is a type of automatic identification technology that uses radio frequency to identify targets and acquire relevant data non-contactly. It can identify high-speed moving objects and simultaneously identify multiple tags, offering quick and convenient operation. An RFID system typically consists of two main parts: a reader and electronic tags. The electronic tag is also known as an RFID tag, transponder, or data carrier, while the reader is also called a reading device, scanner, reader head, communicator, or reader-writer. The electronic tag stores valid information, while the reader reads this information and sends it to the central controller for processing and judgment. In this technical solution, the electronic tag can be used to store the specifications of the hook, with one electronic tag corresponding to the specifications of one hook.

[0051] Furthermore, in this technical solution, before the hook is used, its specification information can be pre-stored in the electronic tag. One electronic tag is installed for each hook, thus creating a one-to-one correspondence between the electronic tag and the hook specification information. If the crane is configured with multiple hook specifications, an electronic tag can be installed for each hook specification. Pre-storing the hook specification information in the electronic tag, combined with the radio frequency detection electronic tag, not only allows for quick and accurate confirmation of the current hook specification information, but also effectively avoids the error in specification information judgment caused by manual visual judgment during hook lifting, especially when different hook specifications have similar shapes. After receiving the lifting command triggered by the user, the controller controls the hook to perform the lifting action and simultaneously activates the electronic tag. The hook rises continuously under the controller's control. When the radio frequency detection module detects the electronic tag, it receives and reads the radio frequency signal and hook specification information sent by the electronic tag, and forwards the read radio frequency signal and hook specification information to the controller. After receiving the information forwarded by the radio frequency detection module, the controller can analyze the current state of the hook in real time and then perform corresponding control on the hook according to the current state of the hook.

[0052] Furthermore, after receiving the hook specification information, the controller can analyze the rated load and maximum allowable ratio of the current hook to ensure that the weight of the load lifted by the hook is lower than or equal to the rated load during operation, and that the pulley block ratio of the hook is lower than or equal to the maximum allowable ratio. Based on the hook's rated load, the maximum weight the hook can currently bear can be accurately determined, ensuring the hook's safety during use. The pulley block ratio refers to the number of rope strands bearing the weight, i.e., the force-saving factor of the pulley block. The ratio, denoted by m, is the force-saving factor of the pulley block, also known as the speed reduction factor, and is the number of wire rope branches = n. Under ideal conditions without considering friction, the value of m can be calculated using the following formula: the ratio of a single pulley block equals the number of wire rope branches; m = n; the ratio of a double pulley block equals half the number of wire rope branches; m = n / 2. The pulley block ratio has a significant impact on the overall size of the drive unit. Increasing the ratio reduces the tension in each branch of the wire rope, and the drum diameter can also be reduced. However, when the lifting height is constant, the drum length needs to be increased, and when the lifting speed remains constant, the drum rotation speed needs to be increased. The pulley block ratio is not necessarily better the larger it is; it must be determined according to the lifting capacity and standards. Furthermore, the maximum lifting speed of the hook can be obtained based on the type of product being hoisted by the current engineering vehicle. Specifically, the hook needs to hoist different products, and for each product, because it is necessary to ensure the hook can safely control the hoisting action on the product, thereby protecting the safety of the engineering vehicle, different types of products have different maximum permissible hoisting speeds due to their inconsistent specifications, shapes, and sizes. Therefore, the maximum lifting speed of the hook is directly determined based on the maximum permissible hoisting speed of different products. Simultaneously, the current first signal threshold of the radio frequency signal is analyzed based on the maximum lifting speed. The maximum lifting speed of the hook is particularly important for the hook to perform lifting tasks. For the same model of engineering vehicle, its specifications and model are already set; therefore, its maximum boom extension length is a fixed value. When the boom extension length is different, the corresponding maximum lifting height of the hook will also be different. If a fixed height is selected as the destination for transporting different types of products, the lifting height of the hook is fixed, meaning the extension length of the boom is also fixed. When the hook lifts different products, the maximum lifting speed varies. Therefore, to prevent the hook from continuing to lift and failing to stop in time when the product is about to reach its destination, potentially causing accidents such as hook overshooting, it is necessary to clearly understand the maximum lifting speed of the hook when lifting different products. This allows the hook to decelerate at an appropriate height, ultimately ensuring a smooth delivery of the product to its destination.

[0053] Furthermore, the first signal threshold can be set according to actual needs. In this technical solution, the first signal threshold can be a warning signal corresponding to the maximum allowable hoisting speed of different product types. For example, when the hook hoists a type of product to a certain height, in order to ensure that the hook can safely transport the product to its destination, it is necessary to calculate the position where the hook needs to start decelerating and the position where it needs to stop. Therefore, the first signal threshold can be a warning signal when the hook reaches the position where it needs to decelerate or stop, so as to prompt the controller that the hook should move or should stop hoisting. Thus, the controller can perform corresponding deceleration or stopping actions on the hook according to the relationship between the radio frequency signal and the first signal threshold. Specifically, if the signal strength of the radio frequency signal currently received by the controller is greater than or equal to the first signal threshold, the controller controls the hook to decelerate or stop hoisting.

[0054] The above technical solution enables automatic identification of hook specifications. The radio frequency module detects the electronic tag in real time via wireless detection mode and forwards the radio frequency signal and hook specification data to the controller in real time. The controller decelerates and stops the lifting of the hook based on the signal strength of the radio frequency signal, which can effectively reduce or avoid the impact of stopping the lifting height limit in a dangerous direction.

[0055] Figure 2 This is a flowchart illustrating a control method for a hook in one embodiment. It should be understood that, although... Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0056] In one embodiment, the radio frequency detection module 110 forwards the radio frequency signal and hook 102 specification information detected by the electronic tag 104 to the controller in real time. The controller analyzes the received hook 102 specification information to determine the rated load and maximum allowable multiplier of the hook 102, ensuring that the weight of the load lifted by the hook 102 is lower than or equal to the rated load during operation, and that the pulley system multiplier of the hook 102 is lower than or equal to the maximum allowable multiplier, thereby guaranteeing safe use of the hook 102 without causing damage. Simultaneously, the maximum lifting speed of the hook 102 is determined based on the current hoisting product, and a first signal threshold and a second signal threshold for the radio frequency signal are determined based on the maximum lifting speed. The first signal threshold corresponds to the maximum preset safety distance of the hook 102, where the preset safety distance is the distance between the height at which the hook should decelerate and the destination. The second signal threshold corresponds to the minimum preset safety distance, where the hook 102 is very close to or infinitely close to the destination. The controller provides corresponding control operations to the hook 102 based on the relationship between the real-time received radio frequency signal and the first and second signal thresholds. Specifically, when the signal strength of the radio frequency signal detected by the controller is greater than or equal to the first signal threshold and less than or equal to the second signal threshold, i.e., the current signal strength of the radio frequency signal is between the first and second signal thresholds, the controller confirms that the hook 102 is within a preset safe distance and then controls the hook 102 to decelerate. When the signal strength of the radio frequency signal detected by the controller is greater than the second signal threshold, the controller controls the hook 102 to stop lifting.

[0057] Furthermore, if the signal strength of the radio frequency signal detected by the controller is less than the first signal threshold, it means that the hook 102 has not yet risen to the preset safe distance range, and there is no need to restrict the lifting of the hook 102. Therefore, the controller continues to execute the lifting command to control the lifting of the hook 102.

[0058] In one embodiment, such as Figure 3The diagram illustrates a process for controlling the deceleration or stopping of a lifting hook 102. A first signal threshold can be set as A, and a second signal threshold can be set as B. After receiving the radio frequency signal from the electronic tag 104 and the hook 102 specification information forwarded by the radio frequency detection module 110, the controller analyzes the received hook 102 specification information to determine the rated load and maximum allowable multiplier of the hook 102. This ensures that during operation, the weight of the load lifted by the hook 102 is lower than or equal to the rated load, and the pulley system multiplier of the hook 102 is lower than or equal to the maximum allowable multiplier, thereby guaranteeing safe use of the hook 102 without causing damage. Simultaneously, the controller determines the maximum lifting speed of the hook 102 based on the current hoisting product, and then determines the first signal threshold A and the second signal threshold B of the radio frequency signal based on the maximum lifting speed. The controller analyzes in real time whether the current radio frequency (RF) signal strength is greater than or equal to A. If the RF signal strength is less than A, it confirms that the current position of hook 102 is not within the preset safe distance range, and the controller does not restrict the dangerous lifting action of hook 102, continuing to control hook 102 to lift. If the RF signal strength is greater than or equal to A, it also needs to determine whether the signal strength is less than or equal to B. If the signal strength is less than or equal to B, it confirms that the current position of hook 102 is within the preset safe distance range, and the lifting action of hook 102 needs to be restricted; the controller controls hook 102 to decelerate. If the signal strength is greater than B, it confirms that hook 102 is about to lift the product to the destination, hook 102 cannot lift further, and the controller controls hook 102 to stop lifting.

[0059] In one embodiment, such as Figure 4The diagram illustrates a process for identifying the specifications of a hook 102. After receiving information forwarded by the radio frequency detection module 110, the controller matches the received hook 102 specification information with the rated load and maximum allowable ratio corresponding to the current hook 102 specification in the database. Specifically, it reads the rated load and maximum allowable ratio corresponding to the most recent use of the hook 102 of the same specification. Based on the rated load and maximum allowable ratio, the controller limits the weight of the load lifted by the hook 102 and the pulley block ratio to ensure the safety of the hook 102 and obtains the maximum lifting speed of the hook 102. Specifically, the controller sends the received hook 102 specification signal to a human-machine interface for display. The user can then confirm the hook 102 specification information through the human-machine interface to verify whether the displayed hook 102 specification information corresponds to the current hook 102. If the user confirms that the hook 102 specification information is correct, they can then confirm it through the human-machine interface. After receiving a confirmation command triggered by the user through the human-machine interface, the controller can call up the pre-stored data such as the rated load and maximum allowable ratio of the hook 102 in the system library, and automatically match the rated load and maximum allowable ratio of the hook 102 corresponding to the current specifications. This ensures that the weight of the load lifted by the hook 102 is lower than or equal to the rated load during operation, and that the pulley group ratio of the hook 102 is lower than or equal to the maximum allowable ratio, thereby ensuring the safe use of the hook 102 without causing damage to it.

[0060] In one embodiment, after receiving a lifting command triggered by the user, the controller controls the hook 102 to perform a lifting action and simultaneously activates the electronic tag 104. The detection range of the radio frequency (RF) detection module 110 is limited. Therefore, when the hook 102 and electronic tag 104 are first activated, their current height is not within the detection range of the RF detection module 110, and the RF detection module 110 cannot detect the RF signal sent by the electronic tag 104 at this time. However, as the hook 102 rises under the control of the controller, the RF signal sent by the electronic tag 104 enters the detection range of the RF detection module 110. Once the RF detection module 110 detects the electronic tag 104, it receives and reads the RF signal sent by the electronic tag 104 and the hook 102 specification information, and forwards the read RF signal and hook 102 specification information to the controller. After receiving the information forwarded by the RF detection module 110, the controller analyzes the received hook 102 specifications to determine the rated load and maximum allowable lifting ratio of the hook 102. This ensures that during operation, the weight of the load lifted by the hook 102 is lower than or equal to the rated load, and the lifting ratio of the hook 102's pulley system is lower than or equal to the maximum allowable lifting ratio, thereby guaranteeing safe use of the hook 102 without causing damage. Simultaneously, the controller determines the maximum lifting speed of the hook 102 based on the current hoisting product, and then determines the first and second signal thresholds for the RF signal based on the maximum lifting speed. The controller also analyzes the relationship between the current RF signal and the first and second signal thresholds in real time. When the signal strength of the RF signal detected by the controller is greater than or equal to the first signal threshold and less than or equal to the second signal threshold (i.e., the current RF signal strength is between the first and second signal thresholds), the controller confirms that the hook 102 is within a preset safe distance and controls the hook 102 to decelerate. When the signal strength of the RF signal detected by the controller is greater than the second signal threshold, the controller controls the hook 102 to stop lifting.

[0061] In one embodiment, after receiving a lifting command triggered by the user, the controller controls the hook 102 to perform a lifting action and simultaneously activates the electronic tag 104. As the hook 102 rises under the control of the controller, the radio frequency (RF) signal sent by the electronic tag 104 enters the detection range of the RF detection module 110. The RF detection module 110 forwards the detected RF signal of the electronic tag 104 and the hook 102 specification information to the controller in real time. If the controller detects that the RF module suddenly stops forwarding the RF signal of the electronic tag 104, and still does not receive the forwarded RF signal of the electronic tag 104 within a preset time, it can be determined that the hook 102 is abnormal. The controller then controls the hook 102 to stop the lifting action and issues a warning message such as "Hook 102 abnormal" to the user through the human-machine interface. The controller can issue the warning to the user through a graphical interface, a voice broadcast, or a combination of both. The warning method is not limited here and can be configured according to the crane's specifications.

[0062] The crane provided in this invention has a hook lifting control system that controls the lifting, deceleration, and stopping of the hook during the lifting process based on the real-time radio frequency signal strength and the maximum lifting speed of the hook. Compared with the prior art, this technical solution has the following advantages in acquiring hook specification information and limiting the lifting height: For acquiring hook specification information, this technical solution eliminates the need for manual input, avoiding information entry errors caused by human error and preventing safety risks caused by incorrect hook specification information. Simultaneously, hook specification identification is accurate; unlike visual recognition, hook specification identification is no longer independent of the hook's shape. RFID technology enables automatic hook specification identification unaffected by the environment. For limiting the lifting height, the radio frequency module and electronic tag are wirelessly detected, offering the advantage of being less prone to damage. Furthermore, when the hook lifting height reaches a preset value, it can decelerate in advance based on the electronic tag signal strength, and immediately stop any movement in the dangerous direction upon reaching the position. Because deceleration can be performed in advance, the impact of stopping dangerous movements at the lifting height limit can be reduced or avoided. This technical solution features a simple system structure, few variables involved in the calculation, high reliability, and low cost. Users can change the lifting ratio or hook without removing other accessories, improving operational efficiency. The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and all such simple modifications fall within the protection scope of the present invention.

[0063] This application provides a controller for running a program, wherein the program executes the above-described control method for a hook.

[0064] In one embodiment, such as Figure 5 As shown, a hook control system 500 is provided, including:

[0065] The radio frequency detection module 510 is used to receive the radio frequency signal and hook specification information sent by the electronic tag 520 and forward it to the controller;

[0066] Electronic tag 520 stores hook specification information and is used to send radio frequency signals and hook specification information to radio frequency detection module 510;

[0067] The controller 530 is configured to perform the control method described above for the hook.

[0068] This application provides a storage medium storing a program that, when executed by a processor, implements the above-described control method for a hook.

[0069] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a control method for a hook. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0070] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0071] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: during hook lifting, when the radio frequency detection module detects the radio frequency signal transmitted by the electronic tag and the hook specification information, it receives the radio frequency signal and hook specification information forwarded by the radio frequency detection module; it determines the rated load and maximum allowable multiplier of the hook based on the hook specification information, so that the weight of the load lifted by the hook during operation is less than or equal to the rated load, and the multiplier of the hook's pulley system is less than or equal to the maximum allowable multiplier; it obtains the maximum lifting speed of the hook; it determines a first signal threshold for the radio frequency signal based on the maximum lifting speed; and when the signal strength of the radio frequency signal is greater than or equal to the first signal threshold, it controls the hook to decelerate or stop lifting.

[0072] In one embodiment, controlling the hook to decelerate or stop lifting when the signal strength of the radio frequency signal is greater than or equal to a first signal threshold includes: controlling the hook to decelerate when the signal strength of the radio frequency signal is greater than or equal to the first signal threshold and less than or equal to a second signal threshold; and controlling the hook to stop lifting when the signal strength of the radio frequency signal is greater than the second signal threshold; wherein the second signal threshold is determined based on the maximum lifting speed and the second signal threshold is greater than the first signal threshold.

[0073] In one embodiment, the control method further includes: controlling the hook to continue lifting when the signal strength of the radio frequency signal is less than a first signal threshold.

[0074] In one embodiment, determining the rated load and maximum allowable ratio of the hook based on the hook specification information includes: after receiving the hook specification information forwarded by the radio frequency detection module, sending the hook specification information to the human-machine interface for display; and, upon receiving a confirmation instruction from the user triggered by the human-machine interface regarding the hook specification information, determining the rated load and maximum allowable ratio that match the hook specification.

[0075] In one embodiment, the control method further includes: during the lifting process of the hook, when the radio frequency detection module receives the radio frequency signal sent by the electronic tag within the preset detection range, receiving the radio frequency signal forwarded by the radio frequency detection module and the hook specification information.

[0076] In one embodiment, the control method further includes: during the lifting process of the hook, if it is detected that the radio frequency module interrupts the forwarding of radio frequency signals and hook specification information and does not resume the forwarding action within a preset time period, it is determined that the hook has malfunctioned; the hook is controlled to stop the lifting action, and a warning message is issued to the user through the human-machine interface.

[0077] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: during the lifting process of the hook, when the radio frequency detection module detects the radio frequency signal transmitted by the electronic tag and the hook specification information, receiving the radio frequency signal and hook specification information forwarded by the radio frequency detection module; determining the rated load and maximum allowable ratio of the hook according to the hook specification information, so that the weight of the load lifted by the hook is lower than or equal to the rated load during operation, and the ratio of the hook's pulley block is lower than or equal to the maximum allowable ratio; obtaining the maximum lifting speed of the hook; determining a first signal threshold of the radio frequency signal according to the maximum lifting speed; and controlling the hook to decelerate or stop lifting when the signal strength of the radio frequency signal is greater than or equal to the first signal threshold.

[0078] In one embodiment, controlling the hook to decelerate or stop lifting when the signal strength of the radio frequency signal is greater than or equal to a first signal threshold includes: controlling the hook to decelerate when the signal strength of the radio frequency signal is greater than or equal to the first signal threshold and less than or equal to a second signal threshold; and controlling the hook to stop lifting when the signal strength of the radio frequency signal is greater than the second signal threshold; wherein the second signal threshold is determined based on the maximum lifting speed and the second signal threshold is greater than the first signal threshold.

[0079] In one embodiment, the control method further includes: controlling the hook to continue lifting when the signal strength of the radio frequency signal is less than a first signal threshold.

[0080] In one embodiment, determining the rated load and maximum allowable ratio of the hook based on the hook specification information includes: after receiving the hook specification information forwarded by the radio frequency detection module, sending the hook specification information to the human-machine interface for display; and, upon receiving a confirmation instruction from the user triggered by the human-machine interface regarding the hook specification information, determining the rated load and maximum allowable ratio that match the hook specification.

[0081] In one embodiment, the control method further includes: during the lifting process of the hook, when the radio frequency detection module receives the radio frequency signal sent by the electronic tag within the preset detection range, receiving the radio frequency signal forwarded by the radio frequency detection module and the hook specification information.

[0082] In one embodiment, the control method further includes: during the lifting process of the hook, if it is detected that the radio frequency module interrupts the forwarding of radio frequency signals and hook specification information and does not resume the forwarding action within a preset time period, it is determined that the hook has malfunctioned; the hook is controlled to stop the lifting action, and a warning message is issued to the user through the human-machine interface.

[0083] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0084] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0085] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0086] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0087] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0088] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0089] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0090] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0091] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a lifting hook, characterized in that, An electronic tag is installed on the hook, and the electronic tag stores the specification information of the hook. Each electronic tag contains exactly one specification piece of information. The hook is connected to the boom head via a wire rope. A radio frequency detection module is installed on the boom head. The control method includes: During the lifting process of the hook, if the radio frequency detection module detects the radio frequency signal and hook specification information sent by the electronic tag, the radio frequency detection module forwards the radio frequency signal and hook specification information. The rated load and maximum allowable ratio of the hook are determined according to the hook specification information, so that the weight of the load lifted by the hook during operation is lower than or equal to the rated load, and the pulley group ratio of the hook is lower than or equal to the maximum allowable ratio. Obtain the maximum lifting speed of the hook; A first signal threshold for the radio frequency signal is determined based on the maximum lifting speed; If the signal strength of the radio frequency signal is greater than or equal to the first signal threshold, the hook is controlled to decelerate or stop lifting. Wherein, controlling the hook to decelerate or stop lifting when the signal strength of the radio frequency signal is greater than or equal to the first signal threshold includes: When the signal strength of the radio frequency signal is greater than or equal to the first signal threshold and less than or equal to the second signal threshold, the hook is controlled to decelerate. If the signal strength of the radio frequency signal is greater than the second signal threshold, control the hook to stop lifting; The second signal threshold is determined based on the maximum lifting speed, and the second signal threshold is greater than the first signal threshold.

2. The control method for a hook according to claim 1, characterized in that, The control method further includes: If the signal strength of the radio frequency signal is less than the first signal threshold, the hook is controlled to continue lifting.

3. The control method for a lifting hook according to claim 1, characterized in that, The process of determining the rated load and maximum allowable ratio of the hook based on the hook specification information includes: After receiving the hook specification information forwarded by the radio frequency detection module, the hook specification information is sent to the human-machine interface for display. Upon receiving a confirmation command from the user via the human-computer interaction interface regarding the hook specifications, the rated load and maximum allowable multiplier that match the hook specifications are determined.

4. The control method for a lifting hook according to claim 1, characterized in that, The control method further includes: During the lifting process of the hook, if the radio frequency detection module receives the radio frequency signal sent by the electronic tag within the preset detection range, it receives the radio frequency signal forwarded by the radio frequency detection module and the hook specification information.

5. The control method for a lifting hook according to claim 4, characterized in that, The control method further includes: If, during the lifting process of the hook, the radio frequency detection module is detected to have interrupted the forwarding of the radio frequency signal and the hook specification information and has not resumed the forwarding action within a preset time period, it is determined that the hook has malfunctioned. The system controls the hook to stop lifting and issues a warning to the user through a human-machine interface.

6. A controller, characterized in that, It is configured to perform the control method for a hook according to any one of claims 1 to 5.

7. A hook control system, characterized in that, include: The radio frequency detection module is used to receive radio frequency signals and hook specification information sent by the electronic tag and forward them to the controller; The electronic tag stores the hook specification information and is used to send the radio frequency signal and hook specification information to the radio frequency detection module. The controller according to claim 6.

8. A crane, characterized in that, include: The hook is equipped with an electronic tag and is connected to the head of the boom via a wire rope. The boom has an RF detection module installed at its head. During the lifting process of the hook, the RF detection module detects the RF signal sent by the electronic tag and the hook specification information. And the hook control system according to claim 7.

9. The crane according to claim 8, characterized in that, The crane also includes: The human-machine interface is used to trigger the hook specification information confirmation command.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the control method for a hook according to any one of claims 1 to 5.

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